Mobile hot-line work robot with obstacle crossing structure and control method of mobile hot-line work robot

Abstract

The invention relates to a mobile hot-line work robot with an obstacle crossing structure and a control method thereof, a top plate on a robot vehicle body is sequentially provided with a rotating base, a telescopic base and a main supporting body from bottom to top, the main supporting body is provided with an operation arm, and the telescopic base is provided with a dragging mechanism and a clamping mechanism; the dragging mechanism comprises two groups of symmetrical limiting slide rails, and each group of limiting slide rails comprises a longitudinal limiting slide rail and an inclined limiting slide rail; a connecting rod is slidably connected to each limiting sliding rail, the two connecting rods are connected through a synchronous sliding block, and the synchronous sliding block is connected with an air rod on the telescopic base. The clamping mechanism comprises two clamping frames arranged at the two ends of the guide rail driving set, and the clamping frames are provided with electric leakage sensors. The number of the clamping mechanisms is two, the guide rail driving set of each clamping mechanism is connected with one limiting clamping base, and the limiting clamping bases are movably connected with the corresponding connecting rods. Each guide rail driving set is connected into the corresponding transverse limiting sliding rail in a sliding mode. The device can achieve the stretching of the damaged part of the wire, and facilitates the remote maintenance operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of live-line working robots, and in particular relates to a mobile live-line working robot with an obstacle-crossing structure and a control method. Background Art

[0002] Live distribution network operations have become the most direct and effective means for power supply companies to reduce power outage time, improve power supply reliability and service levels. The main operations are 10kV live disconnection, bolt tightening, tree branch pruning, grounding ring installation, lightning arrester replacement, etc. However, manual operations are labor-intensive and have high safety risks. There is an urgent need to use robots to replace manual high-risk operations. At present, live distribution network operation robots are widely used at home and abroad.

[0003] Live-working robots are usually controlled remotely to simulate manual work using an operating arm. However, the feel of operation during remote work is different from that of in-person operation. In addition, the lines may not necessarily remain straight due to thermal expansion and contraction, making it inconvenient for the operating arm to pick up and perform maintenance operations. Summary of the invention

[0004] The purpose of the present invention is to provide a mobile live-working robot with an obstacle-crossing structure and a control method, aiming to solve the technical problems that in remote work, the feel of operation is different from that of personal operation, and the line may not be in a straight state due to thermal expansion and contraction, resulting in inconvenient operation of the operating arm and maintenance operations.

[0005] In order to achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a mobile live-working robot with an obstacle-crossing structure, comprising a body, obstacle-crossing wheels are arranged at the bottom of the body, the top of the body is connected to a top plate through a bucket arm, a rotating base, a telescopic base and a main support body are sequentially installed on the top surface of the top plate from bottom to top, and an operating arm is installed on the main support body, the lower part of the telescopic base is fixed to the rotating end of the rotating base, the lower part of the telescopic base is provided with a pulling mechanism, and a clamping mechanism is provided on the pulling mechanism; The pulling mechanism comprises a slide rail frame fixedly connected to the telescopic base, and two symmetrical groups of limit slide rails are arranged on the slide rail frame, each group of limit slide rails comprises a longitudinal limit slide rail and an oblique limit slide rail; a connecting rod is slidably connected to each group of limit slide rails, and two ends of the connecting rod are respectively slidably connected to the longitudinal limit slide rail and the oblique limit slide rail, and the two connecting rods are connected by a synchronous slider; a gas rod is arranged on the telescopic base, and the gas rod is connected to the synchronous slider; the clamping mechanism comprises two clamping frames symmetrically arranged at both ends of the guide rail driving group, and the clamping surface of the clamping frame is provided with a leakage sensor for detecting whether the wire is leaking; two clamping mechanisms are arranged, and the guide rail driving group of each clamping mechanism is connected to a limit clamping seat, and the limit clamping seat is movably connected to the corresponding connecting rod; the bottom of each guide rail driving group is slidably connected to the corresponding transverse limit slide rail through a first slider, and the two transverse limit slide rails are distributed in the same straight line on the transverse slide rail frame, and the transverse slide rail frame is connected to the slide rail frame.

[0006] The synchronous sliding block is an inverted U-shaped bearing seat, and a support shaft is arranged at the upper end of the connecting rod, and the support shaft is movably connected with the U-shaped bearing seat.

[0007] A fourth slider and a fifth slider are respectively arranged at the lower parts of the two ends of the connecting rod, and the fourth slider is movably connected in the longitudinal limiting slide rail, and the fifth slider is movably connected in the oblique limiting slide rail.

[0008] The connecting rod is provided with a sliding groove, and the limiting clamping seat is movably connected in the sliding groove.

[0009] A curved guide frame is arranged on one side of the clamping frame relative to the clamping surface thereof.

[0010] The clamping surface of the clamping frame is provided with a clamping pad, the clamping surface and the clamping pad are provided with a through groove, and the leakage sensor is arranged in the through groove.

[0011] A first connecting frame is movably arranged in the through groove, the leakage sensor is fixed to one end of the first connecting piece, an inclined hole is arranged at the other end of the first connecting frame, and an inclined guide rod is arranged in the inclined hole, and the end of the inclined guide rod is connected to the second slider through the second connecting frame, the second slider is fixed to the movable part of the first driving guide rail, and the first driving guide rail is arranged on one side of the clamping frame.

[0012] It also includes a correction mechanism, which is arranged at both ends of the transverse slide rail frame and includes a second driving guide rail and a double-sided contact sensing plate slidably arranged on the second driving guide rail.

[0013] The double-sided contact sensing plate is slidably arranged on the second driving guide rail via a third sliding block.

[0014] The present invention also proposes a control method for the above-mentioned mobile live-line working robot with an obstacle-crossing structure, comprising the following steps: Step 1: The top plate is controlled by the bucket arm to move upward to the side of the electric wire; Step 2: The second driving guide rail drives the double-sided contact sensing plate to move linearly until the double-sided contact sensing plate senses and contacts the surface of the wire; Step 3: automatically simulate and generate the relative positions of the clamping mechanism and the pulling mechanism through the moving distance of the two double-sided contact sensing plates and the center point position of the lateral limit slide rail; Step 4, adjusting the positions of the main support body, the clamping mechanism, the pulling mechanism and the correction mechanism according to the simulated relative positions and the relative directions of the wires; Step 5, moving the clamping mechanism so that the wire is located between the two clamping frames, and driving the two clamping frames to move outwards through the pulling mechanism; Step 6: After the two clamping frames of the clamping mechanism move toward each other to clamp the wire, the clamping mechanism is moved outward again to straighten the wire; Step seven: Use remote control to repair the damaged parts of the wires using the operating arm.

[0015] The beneficial effect of the present invention is that the mobile live-working robot with an obstacle crossing structure provided by the present invention can straighten the wires by utilizing the cooperation of the pulling mechanism and the clamping mechanism, so that the wires are in a straightened state, avoiding the adverse effects of thermal expansion and contraction of the wires, and facilitating the operation of the operating arm.

[0016] The clamping mechanism of the present invention integrates the functions of clamping wires and detecting leakage. While clamping and straightening the wires, the leakage sensor can be driven by the first connecting frame to synchronously detect whether the clamped part of the wires is leaking, thereby enriching the functional diversity of the clamping mechanism.

[0017] The connecting rod in the pulling mechanism of the present invention is limited by the longitudinal limiting slide rail and the oblique limiting slide rail, and the two connecting rods act synchronously through the inverted U-shaped bearing seat. Therefore, the two connecting rods move synchronously, ensuring that the two clamping mechanisms are always located in the same straight line while also driving the distance between the two clamping mechanisms to increase, thereby achieving straightening of the wires.

[0018] The clamping mechanism of the present invention is movably connected to the connecting rod through a limit clamping seat. When the connecting rod moves along the oblique limit slide rail, the clamping mechanism moves laterally along the transverse limit slide rail but does not rotate, thereby ensuring that the wires between the clamping mechanisms are in a straightened state.

[0019] The arc-surface guide frame on the clamping frame of the present invention can ensure that the electric wire will not be stuck on the outer side of the clamping frame, and the electric wire can be smoothly moved between the two clamping frames through translation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0021] Figure 2This is a schematic diagram of the overall structure of the top of the robot according to the present invention;

[0022] Figure 3 This is a schematic diagram of the structural disassembly of the top of the robot according to the present invention;

[0023] Figure 4 It is a schematic diagram of the disassembly of the clamping mechanism in the present invention;

[0024] Figure 5 It is a flowchart of the method for controlling the live working robot in the present invention;

[0025] Markings in the figure: 1, clamping mechanism; 101, clamping frame; 102, arc guide frame; 103, guide rail drive group; 104, limit clamping seat; 105, horizontal limit slide rail; 106, first slider; 107, clamping pad; 108, through groove; 109, leakage sensor; 110, first connecting frame; 111, oblique slider; 112, oblique guide rod; 113, second connecting frame; 114, second slider; 115, first drive guide rail; 116, slide groove;

[0026] 2. Correction mechanism; 201. Double-sided contact sensing plate; 202. Third slider; 203. Second driving guide rail;

[0027] 3. Pulling mechanism; 301. Oblique limit slide rail; 302. Gas rod; 303. Fourth slide block; 304. Connecting rod; 305. Support shaft; 306. Fifth slide block; 308. Longitudinal limit slide rail; 309. U-shaped bearing seat;

[0028] 4. Top plate; 5. Bucket arm; 6. Vehicle body; 7. Obstacle-crossing wheels; 8. Main support body; 9. Operating arm; 10. Telescopic base; 11. Rotating base. DETAILED DESCRIPTION

[0029] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments, but they are not intended to limit the invention in any way.

[0030] Embodiment 1: refer to the attached Figure 1-4 As shown, a mobile live-working robot with an obstacle crossing structure includes a body 6, an obstacle crossing wheel 7 is arranged at the bottom of the body 6, and the top of the body 6 is connected to a top plate 4 through a bucket arm 5, and a rotating base 11, a telescopic base 10 and a main support body 8 are installed on the top of the top plate 4 in sequence from bottom to top, and operating arms 9 are respectively installed on both sides of the main support body 8, a pulling mechanism 3 is arranged on one side of the telescopic base 10, and a clamping mechanism 1 is arranged on the pulling mechanism 3.

[0031] The pulling mechanism 3 includes a slide rail frame, which is Y-shaped and includes two groups of symmetrically arranged limit slide rails, each group of limit slide rails includes a longitudinal limit slide rail 308 and an oblique limit slide rail 301, the two longitudinal limit slide rails 308 are arranged side by side in parallel, and the two oblique limit slide rails 301 constitute the bifurcation of the slide rail frame. A connecting rod 304 is slidably connected to each group of limit slide rails, and the same position of the bottom end of each connecting rod 304 is fixedly connected to a fourth slider 303 and a fifth slider 306, respectively, and the fourth slider 303 is movably engaged in the longitudinal limit slide rail 308, and the fifth slider 306 is movably engaged in the oblique limit slide rail 301. An inverted U-shaped bearing seat 309 is arranged on the straight part of the slide rail frame, and a support shaft 305 is arranged on the same end of the two connecting rods 304, and the support shaft 305 is movably connected to the U-shaped bearing seat 309. A gas rod 302 is arranged on the telescopic base 10, and the telescopic end of the gas rod 302 is connected to the U-shaped bearing seat 309, so that when the gas rod 302 is extended, the connecting rod 304 is driven to slide along the longitudinal limiting slide rail 308 and the oblique limiting slide rail 301 through the U-shaped bearing seat 309, thereby increasing the distance between the front ends of the two connecting rods 304.

[0032] The outer side of the oblique limiting slide rail 301 is also connected to a transverse slide rail frame extending in a straight line to both ends, and two transverse limiting slide rails 105 in a straight line are arranged on the transverse slide rail frame.

[0033] The clamping mechanism 1 includes two clamping frames 101 arranged opposite to each other, and clamping pads 107 are fixed to the inner walls of the opposite sides of the two clamping frames 101 respectively. A through groove 108 is penetrated by one of the clamping frames 101 and the clamping pad 107, and a first connecting frame 110 is movably inserted in the through groove 108. One end of the first connecting frame 110 is fixedly connected to a leakage sensor 109, and the leakage sensor 109 is located in the through groove 108. An inclined slider 111 is arranged at the other end of the first connecting frame 110, and the inclined slider 111 is provided with an inclined hole. An inclined guide rod 112 is movably inserted in the inclined hole, and one end of the inclined guide rod 112 is connected to the second slider 114 through a second connecting frame 113. The second slider 114 is fixed to the movable part of the first driving guide rail 115. The first driving guide rail 115 is arranged on one side of the clamping frame 101, and the first driving guide rail 115 is driven by a linear motor or a screw. The first driving guide rail 115 drives the oblique guide rod 112 to slide along the oblique slider 111 , and pushes the oblique slider 111 and the first connecting frame 110 to drive the leakage sensor 109 to extend or retract in the through slot 108 .

[0034] The two clamping frames 101 of each clamping mechanism 1 are respectively installed at the two ends of the guide rail drive group 103, and the guide rail drive group 103 drives the two clamping frames 101 to move toward each other to clamp the wires. The guide rail drive group 103 is a common accessory in the mechanical field and can be purchased and used directly. The side of the guide rail drive group 103 is connected to a limited clamping seat 104, and the limited clamping seat 104 is movably connected to the corresponding connecting rod 304, that is, a slide groove 116 is provided on one end of each connecting rod 304 relative to the support shaft 305, and the limited clamping seat 104 is movably arranged in the slide groove 116. The bottom center position of the guide rail drive group 103 is connected to a first slider 106, and the first slider 106 is movably connected in the transverse limited slide rail 105. Under the push of the gas rod 302, the front end of the connecting rod 304 slides outward along the oblique limiting slide rail 301, driving the clamping mechanism 1 to slide along the transverse limiting slide rail, so that the distance between the two clamping mechanisms 1 increases to tighten the wires between the two clamping mechanisms 1. While clamping the wires, the leakage sensor 109 can also be driven by the first driving guide rail 115 to extend from the through slot 108, contact the damaged end of the wire, and detect whether it is leaking electricity, so that the wire clamping and leakage detection can be carried out at the same time.

[0035] Furthermore, an arcuate guide frame 102 is provided on the outer side of the clamping frame 101. The arcuate guide frame 102 and the clamping pad 107 are respectively located on the outer side and inner side of the clamping frame 101. The setting of the arcuate guide frame 102 can prevent the wires from being stuck on the outer side of the clamping frame 101, but the wires enter between the two clamping frames 101 under the guidance of the arcuate guide frame 102.

[0036] Preferably, correction mechanisms 2 are respectively provided on both sides of the clamping mechanism 1, and the correction mechanisms 2 are located at both ends of the transverse slide rail frame. The correction mechanism 2 includes two parallel second drive rails 203, and the second drive rails 203 are self-powered rails, such as linear motor driven or screw driven rails. The second drive rails 203 are perpendicular to the transverse limit slide rails 105, and the second drive rails 203 are connected with a third slider 202, which is connected to the double-sided contact sensing plate 201, driving the double-sided contact sensing plate 201 to move linearly along the second drive rails 203.

[0037] The rotating end of the rotating base 11 is fixedly connected to the lower part of the telescopic base 10, and the upper part of the telescopic base 10 can move up and down driven by the internal telescopic mechanism, and the upper end of the telescopic base 10 is connected to the main support body 8. The main support body 8 is driven by the telescopic base 10 and the rotating base 11 to realize vertical lifting and horizontal rotation, which is convenient for further movement of the operating arm 9.

[0038] The working principle of the present invention is as follows: in the pulling mechanism 3, the connecting rod 304 can be pushed forward by extending the gas rod 302. At the same time, under the limiting action of the oblique limiting slide rail 301 and the longitudinal limiting slide rail 308, while ensuring that the clamping mechanism 1 is always located in the same straight line, it also drives the distance between the two clamping mechanisms 1 to increase. After reaching a certain distance, the clamping mechanism 1 clamps and then moves horizontally again by a micro distance, thereby straightening the damaged end of the wire; the telescopic base 10 drives the main support body 8 to move up and down, so that the position of the operating arm 9 is flush with the position of the wire, thereby facilitating remote maintenance operations by stretching the damaged part of the wire.

[0039] In the clamping mechanism 1, the two clamping frames 101 are driven inward to clamp the wires by the guide rail driving group 103, and the guide rail driving group 103 is limited by the lateral movement of the first slider 106 and the movement of the limiting clamping seat 104 in the slide groove 116 to ensure that the two groups of clamping mechanisms 1 will not rotate during the lateral movement. At the same time, under the action of the arc guide frame 102, it can be ensured that the wires will not be stuck on the outside of the clamping frame 101. Through translation, the wires can be smoothly moved between the two clamping frames 101.

[0040] In addition, with the setting of the leakage sensor 109, the second slider 114 is moved outward to change the contact position of the oblique guide rod 112 and the oblique slider 111, which can drive the leakage sensor 109 to extend and retract, thereby facilitating contact with the damaged end of the wire during the outward movement to simultaneously detect whether it is leaking, thereby enriching the functional diversity of the clamping mechanism 1.

[0041] By setting the correction mechanism 2, the two double-sided contact sensing plates 201 at both ends of the horizontal slide rail frame move on the second driving guide rail 203 respectively until they sense and contact the surface of the wire, thereby determining the relative inclination angle of the wire, so that the positions of the main support body 8, the clamping mechanism 1, the pulling mechanism 3 and the correction mechanism 2 can be automatically adjusted according to the relative direction of the wire, so that the positions of the clamping mechanism 1 and the pulling mechanism 3 can be parallel to the direction of the wire, thereby making it more convenient for the inspection of the wire, and the inspection route of the entire wire can be improved during the movement.

[0042] Embodiment 2: A method for controlling a mobile live-working robot with an obstacle-crossing structure, comprising the following specific steps:

[0043] Step 1: The top plate is controlled by the bucket arm to move upward to the side of the electric wire;

[0044] Step 2: The second driving guide rail drives the double-sided contact sensing plate 201 to move linearly until the double-sided contact sensing plate 201 senses and contacts the surface of the wire;

[0045] Step 3: automatically simulate and generate the relative positions of the clamping mechanism 1 and the pulling mechanism 3 through the moving distance of the two double-sided contact sensing plates 201 and the center point position of the transverse limit slide rail 105;

[0046] Step 4, adjusting the positions of the main support body 8, the clamping mechanism 1, the pulling mechanism 3 and the correction mechanism 2 according to the simulated relative positions and the relative directions of the wires;

[0047] Step 5: Move the clamping mechanism so that the wire is located between the two clamping frames 101, and drive the two clamping frames 101 to move outwards through the pulling mechanism 3;

[0048] Step 6: The two clamping frames 101 of the clamping mechanism move toward each other to clamp the wire, and the clamping mechanism is moved outwards a small distance again to straighten the wire;

[0049] Step seven, through remote control, the operating arm 9 repairs the damaged part of the wire.

[0050] The above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit the same. Those skilled in the art should understand that the specific implementation modes of the present invention may be modified or replaced by equivalents with reference to the above embodiments. Any modifications or equivalent replacements that do not depart from the spirit and scope of the present invention are within the scope of protection of the pending claims.

Claims

1. A mobile live-working robot with an obstacle-crossing structure, comprising a body, obstacle-crossing wheels arranged at the bottom of the body, a top plate connected to the top of the body through a bucket arm, a rotating base, a telescopic base and a main support body arranged on the top surface of the top plate in sequence from bottom to top, and an operating arm arranged on the main support body, characterized in that: The lower part of the telescopic base is fixed to the rotating end of the rotating base, the lower part of the telescopic base is provided with a pulling mechanism, and a clamping mechanism is provided on the pulling mechanism; The pulling mechanism comprises a slide rail frame fixedly connected to the telescopic base, and two symmetrical groups of limit slide rails are arranged on the slide rail frame, each group of limit slide rails comprises a longitudinal limit slide rail and an oblique limit slide rail; a connecting rod is slidably connected to each group of limit slide rails, and two ends of the connecting rod are respectively slidably connected to the longitudinal limit slide rail and the oblique limit slide rail, and the two connecting rods are connected by a synchronous slider; a gas rod is arranged on the telescopic base, and the gas rod is connected to the synchronous slider; the clamping mechanism comprises two clamping frames symmetrically arranged at both ends of the guide rail driving group, and the clamping surface of the clamping frame is provided with a leakage sensor for detecting whether the wire is leaking; two clamping mechanisms are arranged, and the guide rail driving group of each clamping mechanism is connected to a limit clamping seat, and the limit clamping seat is movably connected to the corresponding connecting rod; the bottom of each guide rail driving group is slidably connected to the corresponding transverse limit slide rail through a first slider, and the two transverse limit slide rails are distributed in the same straight line on the transverse slide rail frame, and the transverse slide rail frame is connected to the slide rail frame.

2. The mobile live-line working robot according to claim 1, characterized in that: The synchronous sliding block is an inverted U-shaped bearing seat, and a support shaft is arranged at the upper end of the connecting rod, and the support shaft is movably connected with the U-shaped bearing seat.

3. The mobile live-line working robot according to claim 1, characterized in that: A fourth slider and a fifth slider are respectively arranged at the lower parts of the two ends of the connecting rod, and the fourth slider is movably connected in the longitudinal limiting slide rail, and the fifth slider is movably connected in the oblique limiting slide rail.

4. The mobile live-line working robot according to claim 1, characterized in that: The connecting rod is provided with a sliding groove, and the limiting clamping seat is movably connected in the sliding groove.

5. The mobile live-line working robot according to claim 1, characterized in that: A curved guide frame is arranged on one side of the clamping frame relative to the clamping surface thereof.

6. The mobile live-line working robot according to claim 1, characterized in that: The clamping surface of the clamping frame is provided with a clamping pad, the clamping surface and the clamping pad are provided with a through groove, and the leakage sensor is arranged in the through groove.

7. The mobile live-line working robot according to claim 6, characterized in that: A first connecting frame is movably arranged in the through groove, the leakage sensor is fixed to one end of the first connecting piece, an inclined hole is arranged at the other end of the first connecting frame, and an inclined guide rod is arranged in the inclined hole, and the end of the inclined guide rod is connected to the second slider through the second connecting frame, the second slider is fixed to the movable part of the first driving guide rail, and the first driving guide rail is arranged on one side of the clamping frame.

8. The mobile live-line working robot according to claim 7, characterized in that: It also includes a correction mechanism, which is arranged at both ends of the transverse slide rail frame and includes a second driving guide rail and a double-sided contact sensing plate slidably arranged on the second driving guide rail.

9. The mobile live-line working robot according to claim 8, characterized in that: The double-sided contact sensing plate is slidably arranged on the second driving guide rail via a third sliding block.

10. A method for controlling a mobile live-line working robot with an obstacle-crossing structure as claimed in claim 8, characterized in that: The steps include: Step 1: The top plate is controlled by the bucket arm to move upward to the side of the electric wire; Step 2: The second driving guide rail drives the double-sided contact sensing plate to move linearly until the double-sided contact sensing plate senses and contacts the surface of the wire; Step 3: automatically simulate and generate the relative positions of the clamping mechanism and the pulling mechanism through the moving distance of the two double-sided contact sensing plates and the center point position of the lateral limit slide rail; Step 4, adjusting the positions of the main support body, the clamping mechanism, the pulling mechanism and the correction mechanism according to the simulated relative positions and the relative directions of the wires; Step 5, moving the clamping mechanism so that the wire is located between the two clamping frames, and driving the two clamping frames to move outwards through the pulling mechanism; Step 6: After the two clamping frames of the clamping mechanism move toward each other to clamp the wire, the clamping mechanism is moved outward again to straighten the wire; Step seven: Use remote control to repair the damaged parts of the wires using the operating arm.

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